工业装配抗振外骨骼上肢减振性能研究

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振动与冲击 ›› 2020, Vol. 39 ›› Issue (20) : 242-250.

论文

工业装配抗振外骨骼上肢减振性能研究

吴小笛1,2，王海波1,2，张乐1,2，陈俞鹏1,2，薛朝军1,2

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A study on vibration reduction performance of the upper extremity of industrial assembly anti-vibration exoskeleton

WU Xiaodi1,2, WANG Haibo1,2, ZHANG Le1,2, CHEN Yupeng1,2, XUE Chaojun1,2

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摘要

操作动力工具存在巨大的危害性，动力工具产生的持续性或间歇性振动传递到手掌和手臂，对工人的肌肉骨骼系统的损伤不可忽视。为降低装配工人暴露于振动环境下的风险，本文提出一种上肢具有斜弹簧阻尼防振结构的抗振外骨骼。对该外骨骼上肢数学建模，利用谐波平衡法得到其幅频方程和力传递率表达式。以力传递率和固有频率作为减振性能评价指标，设计多组不同的弹簧刚度、阻尼系数、连杆长度比，分析各结构参数对减振性能的影响。结果表明：、、均对减振性能有显著影响，并且的影响程度高于。当工具振动频率低于上肢固有频率时，增大能有效降低力传递率，增大减振性能，反之；增大能够有效降低力传递率，提高系统的减振性能；时，力传递率最低，具有更好的减振效果。

Abstract

Operating power tools is potentially harmful. Continuous or intermittent vibration generated by a power tool is transmitted to a palm and a arm, causing damage to the worker's musculoskeletal system. In order to reduce the risk of assembly workers exposed to vibration, this work proposes an anti-vibration exoskeleton with inclined spring-damped upper extremity. The upper extremity of the exoskeleton was mathematically modeled and the amplitude frequency equation and the force transmissibility Tf were obtained by a harmonic balance method. Taking the force transmissibility and natural frequency as the evaluation indexes of the vibration reduction performance, tests with different spring stiffness k1,k2, damping coefficient c1,c2 and connecting rod length ratio l1/l2 were designed to analyze the influence of various structural parameters on the vibration reduction performance. The result of the tests shows that k1,k2、c1,c2 and l1/l2 all have significant influence on vibration reduction performance, and the influence of k2,c2 is higher than that of k1,c1.When the vibration frequency of the tool is lower than the natural frequency of the upper extremity, increasing k1,k2 can effectively reduce force transmissibility and increase vibration reduction performance, and vice versa. Increasing c1,c2 can effectively reduce force transmissibility and improve vibration reduction performance. When l1/l2=1.0, the force transmissibility is the lowest, with better vibration reduction effect.

导出引用

吴小笛1,2，王海波1,2，张乐1,2，陈俞鹏1,2，薛朝军1,2. 工业装配抗振外骨骼上肢减振性能研究[J]. 振动与冲击, 2020, 39(20): 242-250

1. 西南交通大学机械工程学院,成都610031； WU Xiaodi1,2, WANG Haibo1,2, ZHANG Le1,2, CHEN Yupeng1,2, XUE Chaojun1,2. A study on vibration reduction performance of the upper extremity of industrial assembly anti-vibration exoskeleton[J]. Journal of Vibration and Shock, 2020, 39(20): 242-250

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